System and method for stability control using GPS data

ABSTRACT

A system and method for stability control of a vehicle using GPS data. The system and method can receive GPS data and optionally vehicle operating data or signals and define one of a brake-based stability control subsystem and a torque management-based stability control subsystem as the dominant stability control system. Based on the stability control subsystem defined as the dominant stability control system, the system and method provide stability control for the vehicle. The system and method also defines the dominant stability control system based on weather data.

The present invention relates generally to vehicle control, and, moreparticularly, to systems and methods for vehicle stability control usingGPS data.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram illustration of an exemplary embodiment of asystem in accordance with the present invention;

FIG. 2 is a block diagram illustration of an exemplary embodiment of asystem in accordance with the present invention;

FIG. 3 is a flowchart illustrating an exemplary embodiment of a methodin accordance with the present invention;

FIG. 4 is a block diagram representation of an exemplary embodiment of acontroller and associated components according to the present invention;and

FIG. 5 is a block diagram representation of a stability system for avehicle and trailer according to various embodiments of the presentinvention.

DETAILED DESCRIPTION

In one aspect, an exemplary embodiment of the present invention relatesto a method for stability control of a wheeled vehicle. The method cancomprise receiving at an arbiter controller GPS data; automaticallychoosing as the dominant stability control system for the wheeledvehicle from between a brake-based stability control subsystem and atorque management-based stability control subsystem based on saidreceived GPS data; and providing stability control of the wheeledvehicle based on the automatically chosen dominant stability controlsystem.

In another aspect, an exemplary embodiment of the present inventionrelates to a system for stability control of a tactical vehicle. Thesystem can comprise first transmitting means for transmitting in realtime a speed or velocity signal of the tactical vehicle; secondtransmitting means for transmitting in real time a height signalassociated with the tactical vehicle; third transmitting means fortransmitting in real time a steering signal associated with the tacticalvehicle; fourth transmitting means for transmitting in real time athrottle signal associated with the tactical vehicle; fifth transmittingmeans for transmitting in real time a roll/pitch/yaw signal associatedwith the tactical vehicle; sixth transmitting means for transmitting inreal time at least one signal associated with a current drivingcondition of the tactical vehicle; seventh transmitting means fortransmitting a signal from a traction control system, the signal fromthe traction control system being indicative of a traction mode of thetactical vehicle selected by a user; and eighth transmitting means fortransmitting a signal from a GPS system of the tactical vehicle. Thesystem also can comprise processing means for defining one of abrake-based stability control subsystem and a torque management-basedstability control subsystem as the dominant stability control systembased on the signals from said first, second, third, fourth, fifth,sixth, seventh, and eighth transmitting means; and controlling means forproviding stability control of the tactical vehicle based on the defineddominant stability control system.

In another aspect, an exemplary embodiment of the present inventionrelates to a method for electronic stability control of a wheeledtactical vehicle. The method can comprise transmitting a plurality ofsignals representing current vehicle operating conditions, the currentvehicle operating conditions signals including a speed or velocitysignal, a height signal, a steering signal, a throttle signal, aroll/pitch/yaw signal, and one or more current driving conditionssignals; transmitting a signal from a mobility traction control systemincluding a mobility keypad, the signal from the mobility tractioncontrol system being indicative of a traction mode of the wheeledtactical vehicle selected by a user via the mobility keypad; andtransmitting a signal from a GPS system of the wheeled tactical vehicle.The method also can comprise receiving substantially in real time at astate estimator of a vehicle arbiter controller, signals associated withthe current vehicle operating conditions; receiving at the stateestimator of the vehicle arbiter controller a signal associated with themobility traction control system; and receiving at the state estimatorof the vehicle arbiter controller a signal associated with the GPSsystem. Additionally, the method may comprise defining one of abrake-based stability control subsystem, a torque-based stabilitycontrol subsystem, and a drivetrain-based stability control subsystem asthe dominant stability control system based on the received real timesignals associated with current vehicle operating conditions, based onthe received signal associated with the mobility traction controlsystem, and based on the received signal associated with the GPS system;and providing stability control of the wheeled tactical vehicle based onthe defined dominant stability control system, said providing stabilitycontrol including providing active damping for the wheeled tacticalvehicle.

Generally speaking, the present invention can involve a system andmethod that use a control system arbiter (controller) to define whatmajor subsystem has dominant control of vehicle stability givenparameters of the vehicle's current operating conditions. The vehicleoperating conditions can include a vehicle speed or velocity, a wheelspeed, including a difference in wheel speed, a vehicle height, currentdriving conditions, steering wheel position, throttle pedal position, abrake position or force applied thereto, and vehicle yaw rate andlateral position. From the vehicle's operating conditions, the systemand method can determine which stability control system will be thedominant system in control. In various embodiments, the system andmethod can consider a brake-based stability subsystem and a drivelinetorque-based stability subsystem as the dominant subsystem in control.Optionally, embodiments of the present invention can also include forconsideration as the dominant stability control system a brake-basedstability control subsystem, a torque-based stability control subsystem,and a drivetrain-based stability control subsystem. Stability controlfor the vehicle may be provided such that the other or others of thenon-selected stability control subsystems are partly or entirelydisabled. For example, when the brake-based stability subsystem isselected as the dominant stability subsystem, the driveline torque-basedstability subsystem may be disabled (partly or entirely) from operating.Thus, in various embodiments of the present invention, only one dominantstability system may be “on,” operational, or have control at one time.

Some or all of the aforementioned operating conditions can be read ormonitored in real time or substantially real time. Furthermore, thesystem and method according to various embodiments of the invention candetermine which stability control subsystem is dominant if the vehicle'sstability control system (SCS) is invoked. Optionally, the system andmethod can choose, determine, or define one or more subordinatesubsystems based on the dominant stability control subsystem and/orvehicle operating conditions, and/or based on other suitable inputs,such as GPS data, weather data, or input from a mobility keypad.

In general, a brake-based stability control system may include use of anelectronic stability control algorithm to apply variable braking to allor some of the wheels in order to correct an unstable driving condition.Generally, a torque-based stability control system may automaticallyadjust (increase or decrease) the torque that is supplied to one or morewheels to correct an unstable driving condition. Finally, generallyspeaking, a drivetrain-based stability control system may automaticallyadjust (increase or decrease) the torque distribution to the wheels ofthe vehicle to correct an unstable driving condition. Note that invarious embodiments of the present invention, torque can be suppliedfrom a vehicle engine or motor to one or more vehicle differentials, anda control system may decide how much torque to apply to the one or morevehicle differentials. In various embodiments, feedback from systemsensors, such as a steering angle sensor, a wheel speed sensor, and alateral and yaw sensor may be used to decide how much torque to apply.

An unstable condition can be any unstable or unwanted condition of thevehicle. For example, an unstable condition may include one or more of arollover condition, a wheel slip condition, an overspeed condition, avibration condition, a braking condition, an oversteering condition, aloss of traction condition, etc.

FIG. 1 shows a block diagram of a system 100 according to variousembodiments of the present invention. System 100 may be configured inany suitable mobile vehicle 102. Mobile vehicle 102 can be any suitablevehicle, such as a car, a truck, a trailer, a tactical vehicle, aflatbed truck adapted to receive different shelters or modules on itsbed, a wheeled Human Mobility Vehicle (HMV), a Joint Light Tactical orTechnology Vehicle (JLTV), etc. Moreover, vehicle 102 can be manned orunmanned and may be configured to traverse any suitable terrain,including, but not limited to “on road” surfaces, “off-road” surfaces(e.g., non-paved, severe grade, severe slide slope, altitude, snow, ice,etc.), water, etc.

Vehicle 102 can have any suitable means for traversing. For example,vehicle 102 can have as a traversing means a wheeled system, a tracksystem, a runner system, or the like. Moreover, vehicle 102 may includemore than one traversing system or combination of traversing systems104. The vehicle 102 in FIG. 1, for example, employs a wheel-basedtraversing system. FIG. 1 shows four wheels 104 being implemented, forexample, but it will be appreciated that any suitable number of wheelscan be implemented, such as four wheels or six wheels, withoutlimitation. Vehicle 102 also can any suitable number of axles.Additionally, motive power for vehicle 102 can be provided by anysuitable means, including, but not limited to, a combustion engine, anelectric motor, a hybrid motor, etc. (motive power means not explicitlyshown in FIG. 1). Further, vehicle 102 may include any suitable drivetrain (not shown), including, but not limited to, front wheel drive,rear wheel driver, four-wheel driver, all wheel drive, etc. Note thatthe representation of vehicle 102 shown in FIG. 1 is a simplifiedrepresentation and that many features are not explicitly shown, such asan engine, motor(s), drive shaft, axles, wheel hubs, transmission (e.g.,automatic or standard), transfer case, generator, steering wheel,differential(s), accelerator pedal, brake pedal, battery, variouscontrollers (e.g., ECUs), buses (e.g., J1939, J1587), etc. Also notethat some or all of the foregoing list of items may be optional forvarious embodiments of the present invention. For example, an electricvehicle may not have a combustion engine.

The system 100 shown in FIG. 1 and implemented in vehicle 102 can be forstability control of vehicle 102. Furthermore, system 100 can be forelectronic stability control of vehicle 102.

System 100 can include any suitable subsystems, elements, and/orcomponents. FIG. 1, for example shows system 100 including a controller106; a plurality of speed or velocity elements 108; a plurality ofheight elements 110; a steering element 112; a throttle element 114; aroll, pitch, and/or yaw element 116; an acceleration element 118; abrake element 126. Optionally, system 100 can include subsystems and/orelements associated with current driving conditions of the vehicle. InFIG. 1, item 120 generally represents one or more of the subsystemsand/or elements associated with current driving conditions of thevehicle 102. Optionally, vehicle 102 can include a damping subsystem122, such as an active damper subsystem. In various embodiments, thedamping subsystem 122 can be part of the stability control system 100.Optionally, system 100 can include a traction control subsystem 124.

The system's 100 speed or velocity element 108 can be any suitableelement for reading, measuring, sensing, or otherwise determining aspeed or velocity associated with vehicle 102. For example, element 108can include wheel speed sensors, tachometers, hall effect sensors,photosensors, magnetic sensors, a speed sensor mounted on the outputshaft of transmission, GPS sensor, etc. element 108 also may beconfigured to determine a wheel speed difference between some or all ofthe vehicles. Additionally, note that although FIG. 1 shows four speedor velocity elements 108, there can be any suitable number of elements,including zero, one, two, etc., depending upon the actual speed orvelocity element(s) 108 used and/or the purpose or function thereof. Invarious embodiments, element(s) 108 can transmit or output data or oneor more signals representative of speed or velocity. Optionally, thedata or one or more signals can be transmitted or outputted tocontroller 106, either directly or via another means, such as aconverting means and/or an amplification means. Moreover, in variousembodiments, the data or one or more signals can be transmitted in realtime or substantially real time.

The system's 100 height element 110 can be any suitable element orelements. In various embodiments, height element 110 may be a vehicleride height element and can be configured to read, measure, sense, orotherwise determine a ride height of the vehicle. Additionally, notethat although FIG. 1 shows four height elements 110, there can be anysuitable number of elements, including zero, one, two, etc., dependingupon the actual height element(s) 110 and/or the purpose or functionthereof. In various embodiments, height element(s) 110 can transmit oroutput data or one or more signals representative of a vehicle height.Furthermore, in various embodiments, the vehicle's height may beadjustable. Optionally, the data or one or more signals can betransmitted or outputted to controller 106, either directly or viaanother means, such as a converting means and/or an amplification means.Moreover, in various embodiments, the data or one or more signals can betransmitted in real time or substantially real time. One or more heightelements 110 can be part of a ride height subsystem. In variousembodiments, the ride height subsystem also can include a controller(not shown). Optionally, the ride height controller can be part ofcontroller 106 and/or dedicated to the ride height subsystem.

Steering element 112 can be any suitable element configured to read,measure, sense, or otherwise determine vehicle conditions associatedwith a vehicle's 102 steering wheel. For example, steering element 112may be a steering wheel position sensor. In various embodiments, thesteering element 112 can sense an angle of the steering wheel, a turningvelocity of the steering wheel, a turning acceleration of the steeringwheel, etc. In various embodiments, steering element 112 can transmit oroutput data or one or more signals representative of vehicle conditionsassociated with the vehicle's 102 steering wheel. Optionally, the dataor one or more signals can be transmitted or outputted to controller106, either directly or via another means, such as a converting meansand/or an amplification means. Moreover, in various embodiments, thedata or one or more signals can be transmitted in real time orsubstantially real time.

Throttle element 114 can be any suitable element configured to read,measure, sense, or otherwise determine vehicle conditions associatedwith vehicle's 102 throttle. In various embodiments, throttle element114 can be associated with an engine of the vehicle or with anaccelerator pedal position. For example, throttle element 114 can be anengine throttle position sensor, or, optionally, throttle element 114can be an accelerator pedal position sensor. Though not explicitlyshown, the system 100 can include both an engine throttle positionsensor and an accelerator pedal position sensor. In various embodiments,throttle element 114 can transmit or output data or one or more signalsrepresentative of vehicle conditions associated with one or more of theabove-noted throttle systems. Optionally, the data or one or moresignals can be transmitted or outputted to controller 106, eitherdirectly or via another means, such as a converting means and/or anamplification means. Moreover, in various embodiments, the data or oneor more signals can be transmitted in real time or substantially realtime.

Roll, pitch, and/or yaw element 116 can be any suitable elementconfigured to read, measure, sense, or otherwise determine vehicleconditions associated with vehicle's 102 roll, pitch, and/or yaw. Invarious embodiments, roll, pitch, and/or yaw element 116 can transmit oroutput data or one or more signals representative of vehicle conditionsassociated with one or more of the above-noted roll, pitch, or yawdetermination. Optionally, the data or one or more signals can betransmitted or outputted to controller 106, either directly or viaanother means, such as a converting means and/or an amplification means.Moreover, in various embodiments, the data or one or more signals can betransmitted in real time or substantially real time. Optionally, roll,pitch, and/or yaw element 116 can send one signal representative ofroll, pitch, and yaw, or three separate signals representative of roll,pitch, and yaw, respectively. In various embodiments, roll, pitch,and/or yaw element 116 may be part of an Inertial Measurement Unit(IMU). Optionally, the IMU may be part of a stability control systemmodule (SCS), which also may include a state estimator (to be describedlater).

Acceleration element 118 can be any suitable element configured to read,measure, sense, or otherwise determine vehicle conditions associatedwith the vehicle's 102 acceleration. For example, acceleration element118 can be an accelerometer. In various embodiments, accelerationelement 118 can transmit or output data or one or more signalsrepresentative of vehicle conditions associated with the vehicle'sacceleration (e.g., Ax, Ay, and Az signals). Optionally, the data or oneor more signals can be transmitted or outputted to controller 106,either directly or via another means, such as a converting means and/oran amplification means. Moreover, in various embodiments, the data orone or more signals can be transmitted in real time or substantiallyreal time. In various embodiments, acceleration element 118 may be partof the Inertial Measurement Unit (IMU).

Brake element 126 can be any suitable element configured to read,measure, sense, or otherwise determine vehicle conditions associatedwith the vehicle's brake. For example, brake element 126 can determinean on/off condition of the brake, or can determine a force applied tothe vehicle's brake pedal. Brake element 126 also may be configured todetermine a distance of travel of or a distance to travel of the brakepedal. In various embodiments, brake element 126 can transmit or outputdata or one or more signals representative of vehicle conditionsassociated with the vehicle's brake system or brake pedal. Optionally,the data or one or more signals can be transmitted or outputted tocontroller 106, either directly or via another means, such as aconverting means and/or an amplification means. Moreover, in variousembodiments, the data or one or more signals can be transmitted in realtime or substantially real time.

As noted above, item 120 generally represents one or more of thesubsystems and/or elements associated with current driving conditions.Item 120 can be representative of any suitable subsystem and/or element.For example, item 120 can represent a subsystem or element to read,measure, sense, or otherwise determine a weight of the vehicle.Optionally, item 120 can represent a subsystem or element to read,measure, sense, or otherwise determine a vehicle center of gravity.Optionally, item 120 can represent a subsystem or element to read,measure, sense, or otherwise determine a surface upon which the vehicleis arranged, traversing, or riding (e.g., ice, snow, pavement, dirt,mud). Optionally, item 120 can represent a subsystem or element to read,measure, sense, or otherwise determine a slope of the vehicle. Note thatthe foregoing examples are not meant to limit the scope of subsystems orelements associated with current driving conditions of the vehicle 102.Furthermore, some or all of the aforementioned examples may beindependent from each other and can be implemented in system 100 in anysuitable configuration, combination, or omission of subsystems orelements. Also note that a global positioning system (GPS) elementand/or a weather element and their respective outputs may also beconsidered as current driving conditions signals according to variousembodiments of the present invention.

In various embodiments, each item 120 optionally implemented in system100 can transmit or output data or one or more signals representative ofassociated current driving conditions of the vehicle. Optionally, thedata or one or more signals can be transmitted or outputted tocontroller 106, either directly or via another means, such as aconverting means and/or an amplification means. Moreover, in variousembodiments, the data or one or more signals can be transmitted in realtime or substantially real time. Optionally, some or all of the data orsignals may not be transmitted in real time or substantially real time.

Optionally, system 100 can include traction control subsystem 124.Traction control subsystem can be any suitable traction controlsubsystem. In various embodiments, traction control subsystem 124 can bethe mobility traction control system of U.S. patent application Ser. No.11/798,018 filed May 9, 2007 and entitled “MOBILITY TRACTION CONTROLSYSTEM AND METHOD.” The entire content of the foregoing application ishereby incorporated by reference into the present application. Tractioncontrol subsystem 124 can transmit or output data or one or more signalsrepresentative of a traction mode of the vehicle 102. Optionally, thetraction mode can be selected by a user by any suitable means. Invarious embodiments, the traction mode can be selected by a user using amobility keypad.

Controller 106 can be any suitable controller. In various embodiments,controller 106 can comprise mode control logic including a plurality ofprogrammable hardware components. Alternatively, controller 106 cancomprise a processor such as, but not limited to, a microprocessor,microcontroller, a microcomputer, etc., or substantially as describedbelow, or in the closing paragraphs. The controller 106 can execute asequence of programmed instructions. The instructions can be compiledfrom source code instructions provided in accordance with a programminglanguage such as C++. The instructions can also comprise code and dataobjects provided in accordance with, for example, the Visual Basic™language, or another object-oriented programming language. In variousembodiments, controller 106 may comprise an Application SpecificIntegrated Circuit (ASIC) including hard-wired circuitry designed toperform traction and/or ride control operations described herein. Invarious embodiments, controller 106 can be an arbiter controller, suchas a Stability Control System (SCS) Arbitrator.

Controller 106 may be configured to receive or collect data or signalsfrom sensors associated with one or more vehicle subsystems or sensors.Moreover, controller 106 can be configured to receive or collect data orsignals directly from one or more vehicle subsystems or sensors. Forexample, controller 106 may receive or collect data or signals directlyfrom an electronic control unit (ECU) associated with one or more of thevehicle subsystems or sensors.

Optionally, controller 106 can be configured to receive a plurality ofdata or signals representing current vehicle operating conditions.Examples of current vehicle operating conditions signals (or data) caninclude a speed or velocity signal, a wheel speed signal, a heightsignal, a steering signal, a throttle signal, a roll/pitch/yaw signal,an acceleration signal, a brake pedal signal, and one or more currentdriving conditions signals. Another example includes a damping signal.When implemented with a trailer, another example of an operatingcondition may be a trailer tongue angle. The one or more current drivingconditions can be any suitable driving conditions of the vehicle 102.For example, the one or more current driving conditions can represent aweight of the vehicle 102, a vehicle center of gravity, a surface uponwhich the vehicle 102 is arranged, traversing, or riding (e.g., ice,snow, pavement, dirt, mud), and/or a slope of the vehicle 102. Currentdriving conditions also may be GPS data or weather data indicative of avehicle's real-time location or position, for example. As will bedescribed later, the GPS data and thus the GPS signal output can becorrelated to a terrain map corresponding to the vehicle's real-timelocation. Furthermore, weather data and thus the weather signal outputcan be correlated to the GPS data corresponding to the vehicle'sreal-time position or location.

Optionally, controller 106 can be configured to receive data or a signalfrom a traction control system 124. In various embodiments, tractioncontrol system 124 can include a mobility keypad, and a user canmanually input a desired traction mode. The signal or data from thetraction control system 124 can be indicative of a traction mode of thewheeled tactical vehicle selected by a user via the mobility keypad.

Optionally, controller 106 can be configured to define, choose, orselect as the dominant stability system, one of a brake-based stabilitycontrol subsystem, a torque-based stability control subsystem, and adrivetrain-based stability control subsystem for the vehicle 102.Controller 106 also may be configured to define, choose, or select oneor more subordinate subsystems. Furthermore, in various embodiments, thedefining, choosing, or selecting may be based on received signalsassociated with current vehicle operating conditions. Optionally, thedefining, choosing, or selecting may be based on the received signal ordata associated with the traction control system 124. Furthermore, invarious embodiments, the defining, choosing, or selecting may be basedon GPS data or signals. Optionally, the defining, choosing, or selectingmay be based on weather data.

Alternatively, in various embodiments, controller 106 can be configuredto define, choose, or select as the dominant stability system, one ofthe brake-based stability control subsystem and a torquemanagement-based stability control subsystem for the vehicle 102.Controller 106 also may be configured to define, choose, or select oneor more subordinate subsystems. As with above, the defining, choosing,or selecting may be based on received signals associated with currentvehicle operating conditions. Furthermore, optionally, the defining,choosing, or selecting may be based on the received signal or dataassociated with the traction control system 124, based on GPS data orsignals, or based on weather data or signals. In various embodiments,controller 106 can include a state estimator, and the state estimatorcan be configured to perform the defining, choosing, or selecting of thedominant stability control system. In various embodiments, the stateestimator can receive the signals or data associated with currentvehicle operating conditions. Optionally, state estimator can receivethe signal or data associated with the traction control system 124.

Controller 106 also can be configured to provide stability control forthe vehicle 102. In various embodiments, controller 106 may providestability control for vehicle 102 based on the defined, chosen, orselected dominant stability control system. Optionally, providingstability control also may include providing active damping usingdamping subsystem 122, for example. Optionally, controller 106 caninclude or provide an arbitration function, and the arbitration functioncan be configured to provide stability control for the vehicle 102. Forexample, the arbitration function may output to one or more vehiclesystems or subsystems, intervention actions to be performed by thevarious systems or subsystems to maintain or regain stability. Invarious embodiments, the arbitration function may receive as inputs,outputs from the state estimator. The arbitration function also mayprovide outputs to various elements or control modules associated withcertain subsystems to provide stability control. In various embodiments,signals may be output to one or more vehicle subsystems via a J1939 bus.Various vehicle subsystems may include an engine control module, a brakecontroller, a torque controller, a shock controller, a heightcontroller, a differential controller, etc.

Note that some or all of the subsystems, elements and/or componentsshown and described with respect to FIG. 1 may be optional. Also notethat subsystems, elements, and components and configuration andarrangement thereof shown in FIG. 1 are merely illustrative, and thesystem 100 can have any suitable configuration and/or arrangement ofsubsystems, components, and elements, as well as any suitablecombination.

Turning now to FIG. 2, FIG. 2 shows a block diagram of a system 200according to various embodiments of the present invention. System 200and vehicle 102 are substantially the same as the system 100 and vehicle102 shown in FIG. 1. However, the system 200 shown in FIG. 2additionally includes global positioning system (GPS) subsystem 202.

GPS subsystem 202 can be of any suitable configuration. In variousembodiments, GPS subsystem 202 can be configured substantially asdescribed in U.S. patent application Ser. No. 11/987,626 filed Dec. 3,2007 and entitled “GPS-BASED SYSTEM AND METHOD FOR CONTROLLING VEHICLECHARACTERISTICS BASED ON TERRAIN,” in U.S. patent application Ser. No.11/987,862 filed Dec. 5, 2007 and entitled “GPS-BASED TRACTION CONTROLSYSTEM AND METHOD USING DATA TRANSMITTED BETWEEN VEHICLES,” or in U.S.patent application Ser. No. 11/987,769 filed Dec. 4, 2007 and entitled“GPS-BASED TRACTION CONTROL SYSTEM USING WIRELESSLY RECEIVED WEATHERDATA.” The entire content of each of the foregoing applications ishereby incorporated by reference into the present application.

GPS subsystem 202 may be configured to transmit GPS data or one or moreGPS signals to controller 106. The GPS data or signals can be sent tocontroller 106 in real time or not in real time. In various embodiments,the GPS data or signals can be received at an arbiter controller of thesystem 200. The GPS data or signals can represent any suitable GPS dataor information, such as, one or more of the vehicle's location,longitude, latitude, speed, velocity, direction, attitude, altitude, anda time component associated with the vehicle. In various embodiments,GPS data may be correlated to a terrain map corresponding to thevehicle's real-time location. For example, longitude and/or latitude GPSdata may be correlated to a terrain map indicative of the surface beingtraversed by the vehicle.

Weather subsystem 204 may be configured to transmit weather data or oneor more weather signals to controller 106. The weather data or signalscan be sent to controller 106 in real time or not in real time. Invarious embodiments, the weather data or signals can be received at anarbiter controller of the system 200. The weather data or signals can becorrelated to GPS data corresponding to the vehicle's real-time locationor position.

Optionally, controller 106 can be configured to define, choose, orselect one of a brake-based stability control subsystem, a torque-basedstability control subsystem, and a drivetrain-based stability controlsubsystem as the dominant stability control system based on the receivedGPS data or information. Alternatively, controller 106 may be configureddefine, choose, or select one of a brake-based stability controlsubsystem and a torque management-based stability control subsystem asthe dominant stability control system based on the received GPS data orinformation. Important to note is that the controller 106 can define,choose, or select one of the available stability control subsystems asdominant based only on the received GPS data or information. Otherembodiments of the present invention contemplate defining, choosing, orselecting one of the available stability control subsystems as dominantbased a combination of inputs to the controller 106, such as GPS data orinformation and current vehicle operating conditions data or signals;such as GPS data or information and data or signals from a tractioncontrol system; such as GPS data or information, current vehicleoperating conditions data or signals, and data or signals from atraction control system.

System 200 can provide stability control based on the defined dominantstability control system substantially as described above for system100, but with the additional factor of the GPS data or signals providedfor defining, choosing, or selecting one of the available stabilitycontrol subsystems as dominant, as discussed above. System 200 also candefine, choose, or select one or more subordinate subsystems based onthe dominant stability subsystem and/or based on inputs, such as currentvehicle operating conditions, mobility keypad inputs, GPS data, andweather data.

FIG. 3 shows a flow chart of a method 300 for stability controlaccording to various embodiments of the present invention.

Method 300 can begin at S301 and proceed to any suitable step oroperation. In various embodiments the method can proceed to S302.

S302 can be any suitable step or operation. In various embodiments, S302can include transmitting or sending data or signals. The data or signalscan be any suitable data or signals. Generally speaking, the data orsignals transmitted or sent can be categorized into three majorcategories: (1) current vehicle operating conditions data or signals,such as a speed or velocity signal or data, a wheel speed signal ordata, a height signal or data, a steering signal or data, a throttlesignal or data, a roll/pitch/yaw signal or data, an acceleration signalor data, a brake pedal signal or data, and one or more current drivingconditions signals or data; (2) data or signals from a mobility tractioncontrol system; and (3) GPS data or signals, such as the vehicle'slocation, longitude, latitude, speed, velocity, direction, attitude,altitude, and a time component associated with the vehicle. GPS dataalso may include weather data or signals. Any suitable combination ofthe three major categories may be transmitted for stability control. Forexample, data or signals from all three categories may be transmittedfor stability control, or, optionally, data from only category three maybe transmitted for stability control, or, optionally, data from onlycategory three may be transmitted for stability control. Note that theforegoing examples are not exhaustive and any suitable combination orcombinations are possible. Additionally, the signals and data can betransmitted in real time, substantially in real time, not in real time,or any combination thereof.

After S302, the method 300 can proceed to any suitable step oroperation. In various embodiments, method 300 may proceed to S304.

S304 can be any suitable step or operation. In various embodiments, S304can include receiving data or signals. In various embodiments, thereceived data or signals can be the same data or signals transmitted asdiscussed above in S302. In various embodiments, the signals or data canbe received by controller 106. Optionally, the signals or data can bereceived by a state estimator of controller 106. The signals and datacan be received in real time, substantially in real time, not in realtime, or any combination thereof. S306 also can include defining,choosing, or selecting one or more subordinate subsystems for stabilitycontrol. The defining, choosing, or selecting of subordinate subsystemsmay be based on the defined, chosen, or selected dominant stabilitycontrol subsystem and/or the input signals or data described above asinputs to controller 106.

After S304, the method 300 can proceed to any suitable step oroperation. In various embodiments, method 300 may proceed to S306.

S306 can be any suitable step or operation. In various embodiments, S306can include defining, choosing, or selecting the dominant stabilitycontrol system. In various embodiments, the defining, choosing, orselecting may be performed based on the received data or signals. Asdiscussed above, the defining, choosing, or selecting may be one of abrake-based stability control subsystem, a torque-based stabilitycontrol subsystem, and a drivetrain-based stability control subsystem.Optionally, the defining, choosing, or selecting may be one of abrake-based stability control subsystem and a torque management-basedstability control subsystem. In various embodiments, controller 106 mayperform the defining, choosing, or selecting. Optionally, a stateestimator of controller 106 may perform the defining, choosing, orselecting. In various embodiments, only one stability control subsystemmay be “on,” operative, or enabled at a time.

After S306, the method 300 can proceed to any suitable step oroperation. In various embodiments, method 300 may proceed to S308.

S308 can be any suitable step or operation. In various embodiments, S308can include providing stability control based on the defined, chosen, orselected dominant stability control system. In various embodiments,controller 106 may provide the stability control. Optionally, anarbitration function of the controller 106 can provide the stabilitycontrol. In various embodiments, the controller 106 or the arbitrationfunction of the controller 106 can provide control signals to variousones of the vehicle's 100 subsystems to provide stability control. Invarious embodiments, providing stability control also can includeproviding active damping for the vehicle.

After S308, the method 300 can proceed to any suitable step oroperation. In various embodiments, method 300 may proceed to S310wherein the method ends.

FIG. 4 shows a block diagram representation of an exemplary embodimentof a controller 106 and associated components according to the presentinvention. Controller 106 can include any suitable components. Invarious embodiments, controller 106 can include a state estimator 402,an arbiter or arbitration function 404, and a plurality of controlmodules 406. In various embodiments, the arbitration function 404 may beimplemented in state estimator 402. Furthermore, though not explicitlyshown in FIG. 4, some or all of the inputs 420, 422, 424 to stateestimator 402 may come from bus 408. Additionally, some of the inputsmay come from on-board the controller 106, such as from an InertialMeasurement Unit (IMU), which can send roll, pitch, yaw signals andacceleration signals, for example.

State estimator 402 can be of any suitable configuration and can beimplemented in hardware, software, or combination thereof. In variousembodiments, state estimator 402 may be configured to receive one ormore inputs. The inputs can be any suitable inputs, such as signals ordata as described above. For example, the data or signals received atstate estimator 402 can be based on three major categories: (1) currentvehicle operating conditions data or signals, such as a speed orvelocity signal or data, a height signal or data, a steering signal ordata, a throttle signal or data, a roll/pitch/yaw signal or data, anacceleration signal or data, and one or more current driving conditionssignals or data can be input at 420; (2) data or signals from a mobilitytraction control system can be input at 422; and (3) GPS data orsignals, such as the vehicle's location, longitude, latitude, speed,velocity, direction, attitude, altitude, and a time component associatedwith the vehicle can be input at 424. GPS data also may include weatherdata. Note that although FIG. 4 shows only three inputs, each of thethree inputs shown may represent a plurality of inputs to arbitercontroller 402. Furthermore, as will be discussed later, state estimator402 may also receive as an input, signals or data from a trailerphysically and/or electrically coupled to the vehicle. The signals ordata from the trailer may represent current operating conditions of thetrailer. Moreover, the trailer signals or data may be used to determinewhich stability control subsystem is dominant to provide for stabilitycontrol of the vehicle and of the trailer.

The state estimator 402 can be configured to receive one or more of thesignals or data discussed above and define, choose, or select astability control subsystem as the dominant stability control subsystemfor the vehicle. The dominant stability subsystem may be continuallyupdated based on the received signals or data. Moreover, the stateestimator 402 can define or choose or select the dominant stabilitycontrol subsystem by any suitable means, such as by use of hardware,software, or combination thereof specific to the particularconfiguration of the vehicle 102 and system 100 or 200.

Once the state estimator 402 has defined, chosen, or selected thedominant stability control subsystem for the vehicle, an indication ofthe result is outputted. In various embodiments, the indication issupplied to an arbitration function 404 of the controller 106.

Arbitration function 404 can be of any suitable configuration and can beimplemented in hardware, software, or combination thereof. Arbitrationfunction 404 may implement a control function to control stability ofthe vehicle. In various embodiments, the arbitration function 404outputs control or command signals to one or more of the control modules406 to provide stability control for the vehicle. Control modules 406,in turn, may supply command or control signals to associated components410 of the subsystem to which they are associated. In variousembodiments, control modules 406 may send command or control signals viaa J1939 bus. Arbitration function 404 also may provide one or morefeedback signals to the state estimator 402. Control modules 406 can beany suitable modules, such as an engine control module, a brake controlmodule, a torque control module, a shock control module, a heightcontrol module, etc. Optionally, the control modules 406 may not be partof the controller 106, but instead are coupled thereto.

As an example of how the arbitration function may control vehiclestability, say, for instance that the state estimator has determinedthat a driveline torque management stability control system is dominant.When this system is dominant, for example, there may be certain thingsthat the system does not want to happen or occur. For example, when thedriveline torque management stability control system is dominant andtorque is being modified (e.g., increased or decreased), the system maynot want to allow a braking feature to be partially or fullyimplemented. Thus, the system could control the brake system such thatit is disabled or such that its status or state does not change, or canonly change by a predetermined amount. Note that the foregoing is onlyan example, and the arbitration function 404 can provide vehiclestability control in any suitable means.

For another example, inputs may include a wheel speed signal, a steeringposition signal, a vehicle height signal, a GPS signal, a yaw ratesignal, and a roll rate signal. Based on the values of the inputs, someor all of which may be compared to predetermined values, the system andmethod can determine that stability control needs to take place. Thesystem and method can define, choose, or select a dominant controlsubsystem for control (torque-based stability control in this case), andcan provide as outputs for stability control, a signal to disablebrake-based stability control, a signal to increase torque to insidewheels of the vehicle (assuming the vehicle is turning), and a signal toincrease damping on outside shocks. The foregoing may be actions takenfor an “off-road oversteer” condition.

Another example includes inputs of a wheel speed signal, a steeringposition signal, a vehicle height signal, a GPS signal, a yaw ratesignal, and a roll rate signal. Based on the values of the inputs, someor all of which may be compared to predetermined values, the system andmethod can determine that stability control needs to take place. Thesystem and method can define, choose, or select a dominant controlsubsystem for control (torque-based stability control in this case), andcan provide as outputs for stability control, a signal to disablebrake-based stability control, a signal to increase torque to outsidewheels of the vehicle (assuming the vehicle is turning), and a signal tostiffen damping on outside shocks. The foregoing may be actions takenfor an “off-road understeer” condition.

Yet another example includes inputs of a wheel speed signal, a steeringposition signal, a vehicle height signal, a GPS signal, a yaw ratesignal, and a roll rate signal. Based on the values of the inputs, someor all of which may be compared to predetermined values, the system andmethod can determine that stability control needs to take place. Thesystem and method can define, choose, or select a dominant controlsubsystem for control (brake-based stability control in this case), andcan provide as outputs for stability control, a signal to disabletorque-based stability control (e.g., torque vectoring stabilitycontrol), apply brake to left front, and increase damping on outsideshocks. The foregoing may be actions taken for an “on-road oversteer”condition.

Embodiments of the present invention also contemplate arbitrationbetween a driven vehicle (e.g., a truck) and a trailer physically andelectronically coupled to the driven vehicle. Turning to FIG. 5, FIG. 5shows a vehicle 700 and a trailer 800. As can be seen, the vehicle 700and trailer 800 are physically and electronically coupled together. Invarious embodiments, the electronic coupling may be via a J1939 bus 900and the physical coupling can be via physical links 750 and 850. Notethat vehicle 700 may be substantially the same as the vehicle 102 inFIGS. 1 and 2. For the vehicle 700 and trailer 800 in FIG. 5, stabilitycontrol may be provided for both the vehicle 700 and the trailer 800.Optionally, stability control may be provided for the vehicle 700 andthe trailer 800 simultaneously. In various embodiments, stabilitycontrol can be provided based on the dominant stability control systemdefined, chosen, or selected. For example, controller 106 can receivedvehicle operating signals or data from system 200. Controller 106 alsocan receive trailer operating signals or data from system 200 of trailer800 via the J1939 bus 900. The operating conditions of vehicle 700 canbe substantially as those described previously. Similarly, operatingconditions of trailer 800 can include a speed or velocity signal, aheight signal, a roll/pitch/yaw signal, and one or more current trailerdriving condition signals.

Embodiments of the system of method for stability control for bothvehicle 700 and trailer 800 also can include defining, choosing, orselecting one of a brake-based stability control subsystem, atorque-based stability control subsystem, and a drivetrain-basedstability control subsystem as the dominant stability control system forthe wheeled tactical vehicle based on the received signals associatedwith current vehicle operating conditions and based on the receivedsignals associated with current trailer operating conditions. Based onthe defined dominant stability control system, controller 106 mayprovide stability control of the vehicle 700 and for the trailer 800coupled to the wheeled tactical vehicle. Embodiments also include eitheractivating or not activating a dominant stability control subsystem inthe trailer. Thus, embodiments can include choosing a dominant stabilitycontrol subsystem in the vehicle and providing stability control for thevehicle and/or for the trailer accordingly; choosing a dominantstability control subsystem in the vehicle and in the trailer, andproviding stability control for both accordingly; and choosing adominant stability control subsystem in the trailer and providingstability control for the trailer accordingly.

Optionally, embodiments of the system of method for stability controlfor both vehicle 700 and trailer 800 also can include a signalassociated with a mobility traction control system including a mobilitykeypad, the signal from the mobility traction control system beingindicative of a traction mode of the vehicle selected by a user via themobility keypad. Accordingly, the system and method may define, select,or choose the dominant stability control system based on this additionalinput, as well as the operating conditions of the vehicle 700 andtrailer 800 to provide stability control for the vehicle 700 and for thetrailer 800.

Optionally, vehicle operating data or signals may also represent GPSdata or signals. As such, the system and method may define, select, orchoose the dominant stability control system based on this additionalinput, as well as other operating conditions of the vehicle 700,operating conditions of the trailer 800, and data or signals from atraction control subsystem to provide stability control for the vehicle700 and for the trailer 800.

It should be appreciated that any steps described above may be repeatedin whole or in part in order to perform a contemplated stability controltask. Further, it should be appreciated that the steps mentioned abovemay be performed on a single or distributed processor. Also, theprocesses, elements, components, modules, and units described in thevarious figures of the embodiments above may be distributed acrossmultiple computers or systems or may be co-located in a single processoror system.

Embodiments of the method, system and computer program product (i.e.,software) for stability control, may be implemented on a general-purposecomputer, a special-purpose computer, a programmed microprocessor ormicrocontroller and peripheral integrated circuit element, an ASIC orother integrated circuit, a digital signal processor, a hardwiredelectronic or logic circuit such as a discrete element circuit, aprogrammed logic device such as a PLD, PLA, FPGA, PAL, or the like. Ingeneral, any process capable of implementing the functions or stepsdescribed herein can be used to implement embodiments of the method,system, or computer program product for stability control.

Furthermore, embodiments of the disclosed method, system, and computerprogram product for stability control may be readily implemented, fullyor partially, in software using, for example, object or object-orientedsoftware development environments that provide portable source code thatcan be used on a variety of computer platforms. Alternatively,embodiments of the disclosed method, system, and computer programproduct for stability control can be implemented partially or fully inhardware using, for example, standard logic circuits or a VLSI design.Other hardware or software can be used to implement embodimentsdepending on the speed and/or efficiency requirements of the systems,the particular function, and/or a particular software or hardwaresystem, microprocessor, or microcomputer system being utilized.Embodiments of the method, system, and computer program product forstability control can be implemented in hardware and/or software usingany known or later developed systems or structures, devices and/orsoftware by those of ordinary skill in the applicable art from thefunctional description provided herein and with a general basicknowledge of the computer arts.

Moreover, embodiments of the disclosed method, system, and computerprogram product for stability control can be implemented in softwareexecuted on a programmed general-purpose computer, a special purposecomputer, a microprocessor, or the like. Also, the stability controlsystems and methods can be implemented as a program embedded on apersonal computer such as a JAVA® or CGI script, as a resource residingon a server or graphics workstation, as a routine embedded in adedicated processing system, or the like. The methods and systems canalso be implemented by physically incorporating the methods forproviding or presenting data into a software and/or hardware system, forexample a computer software program.

It is, therefore, apparent that there is provided in accordance with thepresent invention, a method, system, and computer program product forstability control. While this invention has been described inconjunction with a number of embodiments, it is evident that manyalternatives, modifications and variations would be or are apparent tothose of ordinary skill in the applicable arts. Accordingly, applicantintends to embrace all such alternatives, modifications, equivalents andvariations that are within the spirit and scope of this invention.

1. A method for electronic stability control of a wheeled vehicle, theelectronic stability control method comprising: transmitting a pluralityof signals representing current vehicle operating conditions, thecurrent vehicle operating conditions signals including three or more ofa velocity signal, a wheel speed signal, a height signal, a steeringsignal, a throttle signal, a roll/pitch/yaw signal, an active dampingsignal, a brake pedal signal, and one or more current driving conditionssignals; transmitting a signal from a mobility traction control systemincluding a mobility keypad, the signal from the mobility tractioncontrol system being indicative of a traction mode of the wheeledvehicle selected by a user via the mobility keypad; transmitting asignal from a GPS system of the wheeled vehicle; transmitting a weathersignal associated with the wheeled vehicle; receiving substantially inreal time at a state estimator of a vehicle arbiter controller, three ormore signals associated with the current vehicle operating conditions;receiving at the state estimator of the vehicle arbiter controller asignal associated with the mobility traction control system; receivingat the state estimator of the vehicle arbiter controller a signalassociated with the GPS system and a signal associated with the weathersignal; defining one of a brake-based stability control subsystem, atorque-based stability control subsystem, and a drivetrain-basedstability control subsystem as the dominant stability control systembased on the three or more signals associated with current vehicleoperating conditions, based on the signal associated with the mobilitytraction control system, based on the signal associated with the GPSsystem, and based on the signal associated with the weather signal; andproviding stability control of the wheeled vehicle based on the dominantstability control system, said providing stability control includingproviding active damping for the wheeled vehicle.
 2. The method of claim1, wherein the one or more current driving conditions signals representone or more of a vehicle weight, a vehicle center of gravity, a vehicletire pressure, and a surface upon which the vehicle is positioned. 3.The method of claim 1, wherein said defining includes providing a choiceof the brake-based stability control subsystem, the torque-basedstability control subsystem, and the drivetrain-based stability controlsubsystem for defining as the dominant stability control system.
 4. Themethod of claim 1, further comprising defining one or more subordinatesubsystems.
 5. The method of claim 1, the signal from the GPS system ofthe wheeled vehicle includes GPS data of the wheeled vehicle, the GPSdata including one or more of the wheeled vehicle's location, longitude,latitude, speed, velocity, direction, attitude, altitude, and a timecomponent associated with the wheeled vehicle.
 6. A system for stabilitycontrol of a vehicle, the system comprising: first transmitting meansfor transmitting in real time a velocity signal of the vehicle; secondtransmitting means for transmitting in real time a wheel speed signal;third transmitting means for transmitting in real time a height signalassociated with the vehicle; fourth transmitting means for transmittingin real time a steering signal associated with the vehicle; fifthtransmitting means for transmitting in real time a throttle signalassociated with the vehicle; sixth transmitting means for transmittingin real time a roll/pitch/yaw signal associated with the vehicle;seventh transmitting means for transmitting in real time a brake pedalsignal associated with the vehicle; eighth transmitting means fortransmitting in real time at least one signal associated with a currentdriving condition of the vehicle; ninth transmitting means fortransmitting a signal from a traction control system, the signal fromthe traction control system being indicative of a traction mode of thevehicle selected by a user; tenth transmitting means for transmitting asignal from a GPS system of the vehicle; processing means for definingone of a brake-based stability control subsystem, a torquemanagement-based stability control subsystem and a drivetrain-basedstability control subsystem as the dominant stability control systembased on the signals from said first, second, third, fourth, fifth,sixth, seventh, eighth, ninth, and tenth transmitting means; andcontrolling means for providing stability control of the vehicle basedon the dominant stability control system.
 7. The system of claim 6,further comprising damping means for providing active damping for thevehicle.
 8. The system of claim 6, wherein the at least one currentdriving condition signal represents one or more of a vehicle weight, avehicle center of gravity, a vehicle tire pressure, a surface upon whichthe vehicle is riding, and a slope of the vehicle.
 9. The system ofclaim 6, wherein said processing means for defining one of thebrake-based stability control subsystem, the torque management-basedstability control subsystem and the drivetrain-based stability controlsubsystem as the dominant stability control system includes providing aselection between the brake-based stability control subsystem, thetorque management-based stability control subsystem and thedrivetrain-based stability control subsystem.
 10. The system of claim 6,wherein the signal from said tenth transmitting means includes GPS dataof the vehicle, the GPS data including one or more of the vehicle'slocation, longitude, latitude, speed, velocity, direction, attitude,altitude, and a time component associated with the vehicle, and whereinthe longitude and latitude data is correlated to a terrain mapindicating the nature of the surface being traversed by the vehicle. 11.The system of claim 6, wherein said processing means includes a stateestimator, and wherein said controlling means includes an arbitrationfunction.
 12. A method for stability control of a wheeled vehiclecomprising: receiving at an arbiter controller GPS data; automaticallychoosing as a dominant stability control system for the wheeled vehiclefrom between a brake-based stability control subsystem, a torquemanagement-based stability control subsystem and a drivetrain-basedstability control subsystem based on said GPS data; and providingstability control of the wheeled vehicle based on the dominant stabilitycontrol system.
 13. The method of claim 12, wherein said providingstability control further includes providing active damping for thewheeled vehicle.
 14. The method of claim 12, wherein said receiving atthe arbiter controller further includes receiving data associated withcurrent vehicle operating conditions, wherein said data associated withcurrent vehicle operating conditions include three or more of speeddata, velocity data, height data, steering data, throttle data,roll/pitch/yaw data, brake data, active damping data, and datarepresenting at least one current driving condition, and wherein saidautomatically choosing is additionally based on the data associated withcurrent vehicle operating conditions.
 15. The method of claim 14,wherein the data representing at least one current driving conditionincludes one or more of a vehicle weight, a vehicle center of gravity, avehicle tire pressure, and a surface upon which the wheeled vehicle isriding.
 16. The method of claim 12, wherein said arbiter controller isassociated with a state estimator and provides an arbitration function.17. The method of claim 12, wherein said receiving at the arbitercontroller further includes receiving a signal from a mobility tractioncontrol system including a mobility keypad, the signal from the mobilitytraction control system being indicative of a traction mode of thewheeled vehicle selected by a user via the mobility keypad, and whereinsaid automatically choosing is additionally based on said signal fromthe mobility traction control system.
 18. The method of claim 12,further comprising receiving weather data at the arbiter controller,wherein said automatically choosing is further based on said weatherdata.
 19. The method of claim 12, wherein said automatically choosing isperformed by a state estimator associated with the arbiter controller,and wherein said providing stability control includes an arbitrationfunction.
 20. The method of claim 12, wherein the GPS data includes oneor more of the wheeled vehicle's location, longitude, latitude, speed,velocity, direction, attitude, altitude, and a time component associatedwith the wheeled vehicle, and wherein the longitude and latitude data iscorrelated to a terrain map indicating the nature of the surface beingtraversed by the wheeled vehicle.
 21. The method of claim 12, furtherdetermining which ones of a plurality of subsystems to invoke assubordinate.